/** ****************************************************************************** * @addtogroup PIOS PIOS Core hardware abstraction layer * @{ * @addtogroup PIOS_SYS System Functions * @brief PIOS System Initialization code * @{ * * @file pios_sys.c * @author Michael Smith Copyright (C) 2011 * The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org) * @brief Sets up basic STM32 system hardware, functions are called from Main. * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ /* * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, but * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. * * You should have received a copy of the GNU General Public License along * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ /* Project Includes */ #include "pios.h" #if defined(PIOS_INCLUDE_SYS) /* Private Function Prototypes */ static void NVIC_Configuration(void); /** * Initialises all system peripherals */ void PIOS_SYS_Init(void) { /* Setup STM32 system (RCC, clock, PLL and Flash configuration) - CMSIS Function */ SystemInit(); SystemCoreClockUpdate(); /* update SystemCoreClock for use elsewhere */ /* * @todo might make sense to fetch the bus clocks and save them somewhere to avoid * having to use the clunky get-all-clocks API everytime we need one. */ /* Initialise Basic NVIC */ /* do this early to ensure that we take exceptions in the right place */ NVIC_Configuration(); /* Init the delay system */ PIOS_DELAY_Init(); PIOS_DELAY_WaitmS(500); /* XXX wait for the OpenOCD DCC stuff to get its act together */ /* * Turn on all the peripheral clocks. * Micromanaging clocks makes no sense given the power situation in the system, so * light up everything we might reasonably use here and just leave it on. */ RCC_AHB1PeriphClockCmd( RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOB | RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOD | RCC_AHB1Periph_GPIOE | RCC_AHB1Periph_GPIOF | RCC_AHB1Periph_GPIOG | RCC_AHB1Periph_GPIOH | RCC_AHB1Periph_GPIOI | RCC_AHB1Periph_CRC | RCC_AHB1Periph_FLITF | RCC_AHB1Periph_SRAM1 | RCC_AHB1Periph_SRAM2 | RCC_AHB1Periph_BKPSRAM | RCC_AHB1Periph_DMA1 | RCC_AHB1Periph_DMA2 | //RCC_AHB1Periph_ETH_MAC | No ethernet //RCC_AHB1Periph_ETH_MAC_Tx | //RCC_AHB1Periph_ETH_MAC_Rx | //RCC_AHB1Periph_ETH_MAC_PTP | //RCC_AHB1Periph_OTG_HS | No high-speed USB (requires external PHY) //RCC_AHB1Periph_OTG_HS_ULPI | No ULPI PHY (see above) 0, ENABLE); RCC_AHB2PeriphClockCmd( //RCC_AHB2Periph_DCMI | No camera @todo might make sense later for basic vision support? //RCC_AHB2Periph_CRYP | No crypto //RCC_AHB2Periph_HASH | No hash generator //RCC_AHB2Periph_RNG | No random numbers @todo might be good to have later if entropy is desired RCC_AHB2Periph_OTG_FS | 0, ENABLE); RCC_AHB3PeriphClockCmd( //RCC_AHB3Periph_FSMC | No external static memory 0, ENABLE); RCC_APB1PeriphClockCmd( RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4 | RCC_APB1Periph_TIM5 | RCC_APB1Periph_TIM6 | RCC_APB1Periph_TIM7 | RCC_APB1Periph_TIM12 | RCC_APB1Periph_TIM13 | RCC_APB1Periph_TIM14 | RCC_APB1Periph_WWDG | RCC_APB1Periph_SPI2 | RCC_APB1Periph_SPI3 | RCC_APB1Periph_USART2 | RCC_APB1Periph_USART3 | RCC_APB1Periph_UART4 | RCC_APB1Periph_UART5 | RCC_APB1Periph_I2C1 | RCC_APB1Periph_I2C2 | RCC_APB1Periph_I2C3 | RCC_APB1Periph_CAN1 | RCC_APB1Periph_CAN2 | RCC_APB1Periph_PWR | RCC_APB1Periph_DAC | 0, ENABLE); RCC_APB2PeriphClockCmd( RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM8 | RCC_APB2Periph_USART1 | RCC_APB2Periph_USART6 | RCC_APB2Periph_ADC | RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2 | RCC_APB2Periph_ADC3 | RCC_APB2Periph_SDIO | RCC_APB2Periph_SPI1 | RCC_APB2Periph_SYSCFG | RCC_APB2Periph_TIM9 | RCC_APB2Periph_TIM10 | RCC_APB2Periph_TIM11 | 0, ENABLE); /* * Configure all pins as input / pullup to avoid issues with * uncommitted pins, excepting special-function pins that we need to * remain as-is. */ GPIO_InitTypeDef GPIO_InitStructure; GPIO_StructInit(&GPIO_InitStructure); GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; // default is un-pulled input GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All; #if (PIOS_USB_ENABLED) GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_11 | GPIO_Pin_12); // leave USB D+/D- alone #endif GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15); // leave JTAG pins alone GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All; GPIO_InitStructure.GPIO_Pin &= ~(GPIO_Pin_3 | GPIO_Pin_4); // leave JTAG pins alone GPIO_Init(GPIOB, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_All; GPIO_Init(GPIOC, &GPIO_InitStructure); GPIO_Init(GPIOD, &GPIO_InitStructure); GPIO_Init(GPIOE, &GPIO_InitStructure); GPIO_Init(GPIOF, &GPIO_InitStructure); GPIO_Init(GPIOG, &GPIO_InitStructure); GPIO_Init(GPIOH, &GPIO_InitStructure); GPIO_Init(GPIOI, &GPIO_InitStructure); #if defined(PIOS_INCLUDE_LED) /* Initialise LEDs */ PIOS_LED_Init(); #endif } /** * Shutdown PIOS and reset the microcontroller:
* * \return < 0 if reset failed */ int32_t PIOS_SYS_Reset(void) { /* Disable all RTOS tasks */ #if defined(PIOS_INCLUDE_FREERTOS) /* port specific FreeRTOS function to disable tasks (nested) */ portENTER_CRITICAL(); #endif // disable all interrupts PIOS_IRQ_Disable(); // turn off all board LEDs #if (PIOS_LED_NUM == 1) PIOS_LED_Off(LED1); #elif (PIOS_LED_NUM == 2) PIOS_LED_Off(LED1); PIOS_LED_Off(LED2); #endif /* XXX F10x port resets most (but not all) peripherals ... do we care? */ /* Reset STM32 */ NVIC_SystemReset(); while (1) ; /* We will never reach this point */ return -1; } /** * Returns the CPU's flash size (in bytes) */ uint32_t PIOS_SYS_getCPUFlashSize(void) { return ((uint32_t) MEM_SIZE); // it might be possible to locate in the OTP area, but haven't looked and not documented } /** * Returns the serial number as a string * param[out] str pointer to a string which can store at least 32 digits + zero terminator! * (24 digits returned for STM32) * return < 0 if feature not supported */ int32_t PIOS_SYS_SerialNumberGet(char *str) { int i; /* Stored in the so called "electronic signature" */ for (i = 0; i < 24; ++i) { uint8_t b = *(uint8_t *)(0x1fff7a10 + i/2); if (!(i & 1)) b >>= 4; b &= 0x0f; str[i] = ((b > 9) ? ('A' - 10) : '0') + b; } str[i] = '\0'; /* No error */ return 0; } /** * Configures Vector Table base location and SysTick */ static void NVIC_Configuration(void) { /* Set the Vector Table base address as specified in .ld file */ extern void *pios_isr_vector_table_base; NVIC_SetVectorTable((uint32_t)&pios_isr_vector_table_base, 0x0); /* 4 bits for Interrupt priorities so no sub priorities */ NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4); /* Configure HCLK clock as SysTick clock source. */ SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK); } #ifdef USE_FULL_ASSERT /** * Reports the name of the source file and the source line number * where the assert_param error has occurred. * \param[in] file pointer to the source file name * \param[in] line assert_param error line source number * \retval None */ void assert_failed(uint8_t * file, uint32_t line) { /* When serial debugging is implemented, use something like this. */ /* printf("Wrong parameters value: file %s on line %d\r\n", file, line); */ /* Setup the LEDs to Alternate */ PIOS_LED_On(LED1); PIOS_LED_Off(LED2); /* Infinite loop */ while (1) { PIOS_LED_Toggle(LED1); PIOS_LED_Toggle(LED2); for (int i = 0; i < 1000000; i++) ; } } #endif #endif /** * @} * @} */